HLR::PointCloud::ObjectInterpreter Class Reference

Class responsible for merging the world data from the Kinect and the LiDAR. More...

#include <ObjectInterpreter.hpp>

Collaboration diagram for HLR::PointCloud::ObjectInterpreter:

Public Member Functions
std::vector< Object >	get_current_objects (const HLR::Vision::CupDetection &detected_cups, const pcl::PointCloud< pcl::PointXYZ > &point_cloud)
	Returns all the objects visible at this moment. More...
std::vector< Object >	get_changed_objects (const HLR::Vision::CupDetection &detected_cups, const pcl::PointCloud< pcl::PointXYZ > &point_cloud)
	Returns all the objects visible at this moment that changed since last call of this function. More...

Detailed Description

Class responsible for merging the world data from the Kinect and the LiDAR.

Member Function Documentation

std::vector<Object> HLR::PointCloud::ObjectInterpreter::get_changed_objects	(	const HLR::Vision::CupDetection &	detected_cups,
		const pcl::PointCloud< pcl::PointXYZ > &	point_cloud
	)

Returns all the objects visible at this moment that changed since last call of this function.

calls HLR::PointCloud::Object::operator!=(const Object& rhs) const on current_object and history.

Parameters

detected_cups	The latest depth frame and coordinates of cups found.
point_cloud	The latest point cloud generated from the LiDAR.

Returns

vector of Object that changed

std::vector<Object> HLR::PointCloud::ObjectInterpreter::get_current_objects	(	const HLR::Vision::CupDetection &	detected_cups,
		const pcl::PointCloud< pcl::PointXYZ > &	point_cloud
	)

Returns all the objects visible at this moment.

Parameters

detected_cups	The latest depth frame and coordinates of cups found.
point_cloud	The latest point cloud generated from the LiDAR.

Returns

All current objects.

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The documentation for this class was generated from the following file:

• src/PointCloud/ObjectInterpreter.hpp